package com.google.android.apps.skipbot;

/**
 * Lower level interface that controls the skipper robot.
 */
public interface SkipperRobotController extends RobotController {
  /**
   * Moves the specified leg to the XYZ position given in inches.
   * 
   * @param legIndex zero based index of the leg
   * @param position length 3 array of x, y, z, coordinates in inches relative
   *        to bottom center of the robot
   */
  void moveLeg(int legIndex, double[] position);

  /**
   * Moves all legs to the XYZ position given in inches.
   * 
   * @param legIndex zero based index of the leg
   * @param position for each leg length 3 array of x, y, z, coordinates in
   *        inches relative to bottom center of the robot
   */
  void moveAllLegs(double[][] position);
}
